Autonomous Robot Hitting Task Using Dynamical System Approach

We propose a model that autonomously generates and flexibly organizes sequences of timed actions. The timing of the movements is controlled by non-linear oscillators. Their activation and deactivation is organized by a hierarchical neural-dynamic architecture. We demonstrate the features of our mode...

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Bibliographic Details
Published in2013 IEEE International Conference on Systems, Man, and Cybernetics pp. 4042 - 4047
Main Authors Oubbati, Farid, Richter, Mathis, Schoner, Gregor
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2013
Subjects
attractor dynamics
behavior sequences
Oscillators
Robot kinematics
Robot sensing systems
timed motor acts
Timing
Tracking
Trajectory
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Summary:We propose a model that autonomously generates and flexibly organizes sequences of timed actions. The timing of the movements is controlled by non-linear oscillators. Their activation and deactivation is organized by a hierarchical neural-dynamic architecture. We demonstrate the features of our model in an exemplary robotic task where the manipulator arm keeps hitting a ball up an inclined plane. The autonomous generation of movement sequences is tightly coupled to visual sensory information about the ball motion and able to adapt, on-line, to perturbations introduced in the ball trajectory. The performance of the proposed model is evaluated and the reactions to different perturbations are discussed.
ISSN:1062-922X
DOI:10.1109/SMC.2013.690